Industrial robot

ABSTRACT

The present invention concerns an industrial robot ( 1 ) comprising an upper arm ( 2 ) that can be rotated around a first axis (A), a wrist ( 6 ) supported by the upper arm that can be rotated around a second axis (B), a hollow turning device ( 3, 30 ) supported by the wrist that can be rotated around a third axis (C) that at its front end comprises a turning disk ( 8, 33 ) for attachment of a tool, at least one supply line (K) that runs along the upper arm, that the turning device ( 3, 30 ) comprises a collar section ( 10, 36 ) with a conical envelope surface ( 12, 45 ) attached to the turning disk ( 8, 33 ), through which at least one opening ( 14,40 ) is arranged for the reception of supply lines (K) that pass through the turning device, whereby the opening has an axial extension along a normal ( 16 ) perpendicular to the envelope surface ( 12 ), where the supply lines are arranged to run through the opening in a direction that has a component parallel to the third axis (C), which opening is arranged to control in a transverse direction and allow in a longitudinal direction displacement of the supply lines. The present invention relates also to a turning device for supply lines in an industrial robot with a robot arm that can be rotated, a method for drawing supply lines, use of the turning device in an industrial robot with a robot arm that can be rotated and use of the industrial robot or the turning device in a welding process.

TECHNICAL AREA

The present invention relates to an industrial robot with a robot upperarm. The present invention also refers to a turning device for supplylines for an industrial robot with a rotatable robot arm, a method fordrawing supply lines, use of a turning device on an industrial robotwith a rotatable robot arm and use of the industrial robot or theturning device in a welding process.

THE PRIOR ART

It has become ever more common in industrial robots to allow the supplylines for process media, such as electrical power, cooling water, air orsignals, for the tool to run internally within the upper arm of therobot. What is described as “supply lines” hereunder denotes one or morelines and/or wires for electricity, fluids, other media, etc., and itcan also denote an empty flexible protective cover in which one or morelines or cables can be arranged. The said process media can, forexample, be intended for point welding. The desired tool is attached toa tool connector at the free end of a robot upper arm. The toolconnector is firmly attached to a rotatable device with bearings whichin the subsequent text will be denoted by “the turning device”. The saidturning device comprises a forward disk-shaped section, also known asthe turning disk, for the attachment of a tool to it. There exist todaysome standard sizes of the flange that constitutes the outermost forwardpart of the turning disk and that is used to attach a tool. The turningdevice also comprises a rear section, attached to the turning disk, thatis mounted on bearings and arranged to rotate in a wrist on the robotupper arm. It is desirable that supply lines be drawn through all thesaid parts, such as the robot upper arm and the turning device, whollyor partially internally, within the robot. The lines are in this wayprotected from damage and breakage, at the same time as loose supplylines are avoided that get in the way around the working space of therobot. However, the supply lines are subject to both turning and bendingduring the various rotations of the respective parts. For example, arotatable part of the wrist and simultaneously the turning device caneach rotate +/−300° (in the description given here 300° denotes rotationthrough a complete circle), which is why the total twisting of supplylines that pass along these parts can be exposed to a twisting of 600°.What is known as a “tilt” movement (a bending) can achieve a movement ofthe supply lines of up to +/−120°. In order to reduce wear and toincrease the lifetime of the supply lines, the supply lines should befirmly clamped as little as possible. This makes the supply lines easierto exchange. Supply lines may need to be exchanged as often as once amonth during normal use. Supply lines should also possess a certainaxial freedom of motion, between, for example, conductors (individualwires) in a line. Thus the supply lines should not be firmly clamped inthe robot arm or be bent so severely that the said rotational movementsare inhibited. In known solutions the supply lines are attached toconnectors that are firmly fixed in the turning device, which connectorsextend radially from the turning device and relative to the axis ofrotation of the tool. The supply lines are in this way submitted to avery severe bending within the turning device and the robot arm. Toosevere bending of the supply lines with a small radius of curvaturegives rise to a significant risk of endurance fracture of parts that areincluded in the supply lines, such as, for example, copper conductors.Process supply lines require a relatively large radius of curvature, andit is therefore particularly important to exercise caution against toosharp and small bending radius of curvature of the supply lines whendrawing process lines. In addition to this it can be mentioned thatwhere the supply lines pass out through connectors in the turning deviceat the end of the robot arm the supply lines become extensive and bulky.Extensive supply lines encroach upon the working area and make accessdifficult in order to work in cramped spaces.

The drawing of supply lines essentially completely internally forwardsthrough the turning disk and onwards to the tool is also known in aspecial design. This, however, is not desirable, since it must bepossible to use different types of tool and a tool connector must bestandard. Each user of industrial robots has specific desiresconcerning, for example, special tools that are to be used. The supplylines are for this reason normally drawn externally, on the outersurface of the tool connector/turning device and external to the robotarm at its forward part.

EP-A2-0873826 concerns an industrial robot comprising a wrist joint,comprising three wedge-shaped devices, in which a third wrist device hasa flange with connectors for tools. Supply lines are arranged within therobot arm and are further arranged to be drawn out radially at the thirdwrist device, out of the wrist device. In this way, the supply lines areattached to connectors that are firmly fixed in the wrist device, whichconnectors pass radially outwards from the wrist device relative to theaxis of rotation of the tool. The construction according toEP-A2-0873826 does not specify a solution to the problems that have beendescribed according to the prior art above. These wrist devices do notpermit a straight feed-through of supply lines. Supply lines that aresubject to sharp bending in a right angle are subject to extremeloading, leading to a reduction in lifetime.

There has long existed a need within the industry to draw supply linesmore directly along a robot arm. One function that has been sought-afterfor a long time is the ability to draw supply lines internally throughthe complete robot arm and turning device, whereby the supply lines aredrawn right up to the turning disk of the turning device for furtherconnection to a tool attached at the turning disk.

DESCRIPTION OF THE INVENTION

The present invention aims at achieving supply lines drawn simply in arobot arm for an industrial robot, which supply lines resist themechanical loading that they are subject to during rotational movementof the robot arm whereby an increase in the lifetime of the supply linescan be achieved. Furthermore, the intention is to achieve an arrangementof supply lines that is simple, cost-effective, easy to mount ordismount and/or exchange, and easy to repair. A further aim is that atleast the designs of the pathway of the supply lines, the toolattachment, etc., at the tool are to be made as compact and flexible aspossible in order to make it possible for the robot to gain access tospace-restricted work surfaces and in this way prevent the supply linesfrom encroaching onto the working space.

The solution is achieved with an industrial robot with thecharacteristics specified in claim 1. To be more precise, claim 1according to the present invention relates to an industrial robot thatcomprises an upper arm that can be rotated around a first axis, a wristthat is supported by the upper arm and can be rotated around a secondaxis, a hollow turning device that is supported by the wrist and thatcan be rotated around a third axis and that at its forward end comprisesa turning disk for attachment of a tool, at least one supply line thatruns along the upper arm, whereby the turning device comprises a collarsection with a conical envelope surface that is connected to the turningdisk, through which is arranged at least one opening for the receptionof a supply line that passes through the turning device, whereby theopening has an axial extension along a normal perpendicular to theenvelope surface, where the supply line is arranged to pass through theopening in a direction that has a component parallel to the third axis,which opening is arranged to control in a transverse direction and toallow in a longitudinal direction displacement of the supply line. Sincethe supply line is arranged through the collar section in a directionthat has a component parallel to the third axis, a more advantageous,straighter and more compact pathway for the supply line is achieved. Thesolution according to the invention means that it is easier to gainaccess with the tool to work on smaller surfaces since the pathway tothe tool of the supply line on the outside of the robot arm will be lessextensive and bulky. The present invention allows the supply lines to beallowed to carry out a relatively large rotational motion without riskof limiting the motion or endurance failure. Since the supply lines arenot clamped down in the turning device, the supply lines are allowed tobe controlled transversely and displaced longitudinally. This leads toless wear on, and less damage to, the supply lines. It also means thattangling of the supply lines is avoided and the risk for breakages ofthe supply lines is reduced. The present invention ensures that thesupply lines are subject to a significantly less severe bending throughopenings in the turning device. This significantly reduces the risk thatthe supply lines become broken. In this way, the lifetime of the supplylines is increased. Through the present invention, a simple andefficient method is achieved for exchange of supply lines, since thesupply lines are firmly fixed at few places in the robot upper arm andthe supply lines can be simply drawn out through openings in the turningdevice, when necessary. A further advantage is that different users ofindustrial robots can rapidly and easily install a desired set of supplylines, such as, for example, welding supply lines, tool supply lines, awater line or a compressed air line.

The present invention also comprises a turning device for an industrialrobot for control of supply lines through an upper arm to an industrialrobot, with the characteristics specified in claim 7, which turningdevice at its forward end comprises a turning disk for attachment of atool, whereby the turning device comprises a collar section with aconical envelope surface connected to the turning disk, through which atleast one opening is arranged for reception of a supply line that passesthrough the turning device, whereby the opening has an axial extentalong a normal that is perpendicular to the surface of the envelope,where the supply line is arranged to pass through the opening in adirection that has a component parallel to an axis of the turningdevice, which opening is arranged to control in a transverse directionand to allow in a longitudinal direction displacement of the supplyline. The turning device according to the present invention can beapplied in different types of industrial robot. It is preferable thatthe turning device is arranged to rotate on an industrial robotcomprising an upper arm that can be rotated around a first axis, a wristthat is supported by the upper arm and that can be rotated around asecond axis, and where the rotatable turning device is supported by thewrist in a hollow manner around a third axis.

With the turning device for supply lines according to the presentinvention, the rotating arm part can demonstrate rotational motions ofup to at least +/−300°, without the supply lines becoming tangled or abreakage being caused, which gives less wear on the supply lines. Whenthe robot arm is turned, or rotated, to its final end position, forexample, 300° or more in one direction, the supply lines areconsequently maximally stretched. Thus it is required that the supplylines should be slack in the initial position of the robot arm, before arotational motion. Supply lines can thus be slack in that part of thesupply lines that is inside and/or outside of the robot upper arm.“Slack” is here used to denote the situation in which the supply linescan be hanging loosely and not under tension.

It is appropriate to arrange supply lines in openings, cavities orchannels within the robot upper arm. As has previously been mentioned,one aim of the present invention is to be able to draw supply lines forthe most part internally, inside the robot upper arm, for their completelength through cavities in a rear section of the turning device, andonwards out to the turning disk where the supply lines can pass outadjacent to the tool connector through openings, in the collar section.In this way an essentially extended and straight channel is formed forsupply lines through the robot upper arm and the turning device. In thisway the supply lines obtain an essentially straight passage through therobot upper arm.

It is appropriate if the collar section is arranged between, and indirect contact with, the forward disk-shaped turning disk and a rearsection of the turning device. The collar section, which is designed tobe in contact with the turning disk, can have a envelope surface offreely chosen form such as, for example, concave or convex. However, itis important according to the present invention that the supply linesare arranged to run through an opening in the collar section in adirection that has a component parallel to the third axis, that is, in adirection obliquely forwards towards the tool. The collar section ispreferably designed with a conical envelope surface, and can beconstituted by a cone that is cut off at the tip. It is appropriate toarrange at the base of the cone a body that is constituted by asleeve-shaped section that serves as a bearing mount for a bearing in awrist attached to the robot arm.

The number of openings in the collar section can vary from a few toseveral. The openings can also be called “channels” in consideration ofthe fact that the walls of the collar section have a certain thickness,whereby a channel is formed through penetration from the inner surfaceof the collar section to its outer surface (the envelope surface).

The turning device can be designed in any freely chosen material such assteel, aluminum or plastic.

It is appropriate to terminate the turning device as a conical toothedwheel, divided or whole. “Divided” is used to denote that the turningdevice can comprise several parts that are attached to each other in therobot. This solution provides, among other things, ample space for thebending of the supply lines. A divided turning device can thus in thisway, for example, be comprised of a forward part such as a turning diskand a collar section with a rear contact surface provided with a thread,which surface is firmly screwed into an equivalent rear threaded part ofthe turning device. The rear part is, for example, connected by asuitable method to toothed wheel gearings and a motor that drive andtransfer rotational motion to the turning device. Other technicalcharacteristics concerning a conical toothed wheel, with respect to, forexample, openings in the turning device and the angle of inclination ofthe conical envelope surface, can agree with the characteristicsdescribed here for the turning device.

The supply lines are arranged to pass through the opening in a directionthat has a component parallel to the third axis. A normal can be definedat that point on the envelope surface of the collar section where thesupply line leaves the opening, that is, a direction at the said pointthat is perpendicular to the envelope surface of the collar section. Inthis way, the opening and the supply line that passes through it have anangle of inclination between the third axis and the normal to theenvelope surface the lies under 90°. The said third axis is the axis ofrotation of the tool, which is attached to the turning disk. It isappropriate if the normal to the envelope surface, that is, an axisperpendicular to the envelope surface, has an extension in length thatessentially agrees with an axial extension of the openings that passthrough the turning device. Thus the respective openings each have anextension in length that extends along a normal to the envelope surface.It is appropriate if the angle of inclination between the third axis andthe normal is in the interval from 0° to 60°, and preferably within theinterval from 0° to 44°. A supply line that extends through an openinghas at the position of the opening at least one axial component ofdirection, a component parallel to the third axis. If the angle ofinclination exceeds 0°, the supply line also has a directional componentin a radial direction. When the angle of inclination is 0°, the envelopesurface is for the most part arranged perpendicular relative to thethird axis. The openings then have straight feed-through forwards in thedirection of extension of the collar section.

The present invention also relates to a method for drawing supply linesin an industrial robot with the characteristics specified in claim 12,comprising an upper arm that can be rotated around a first axis, a wristsupported by the upper arm that can be rotated around a second axis, ahollow turning device supported by the wrist that can be rotated arounda third axis and that at its forward end comprises a turning disk forattachment of a tool, whereby at least the supply lines are brought torun along the upper arm, and that the turning device communicates with acollar part with a conical envelope surface that is attached to theturning disk, wherein at least one opening is arranged, whereby theopening has an axial extension along a normal perpendicular to theenvelope surface, that the supply lines are brought to pass through theopening, that the supply lines are brought to pass through the openingin a direction that has a component parallel to the third axis, and thatthe supply lines are brought in the opening to be controlled in atransverse direction and allowed a displacement in a longitudinaldirection.

The present invention also comprises the use of a turning device on anindustrial robot with a rotatable upper arm, according to that which ismade clear by claim 16, in order to control in a transverse and in alongitudinal direction at least one line therein.

It is appropriate to use the industrial robot and the turning deviceaccording to the present invention for work in welding processes, suchas, for example, point welding. The present invention therefore alsorelates to the use of the said industrial robot or turning device,according to that which is made clear by claim 17, in a welding process.

The industrial robot described, which can also be termed a “manipulatorwith control device”, according to the present invention is of a typeintended for managing to bear weights up to at least 150 kg. It isappropriate that the industrial robot according to the present inventionis of a type in which the robot upper arm and the rotation axes of therobot are driven by toothed wheel gearings via motors. It is appropriatethat the motors in such a type of robot upper arm are located at thetoothed wheel gearings, that is, in the forward outer part of the robotupper arm by the wrist and the turning device, and it is appropriate ifthey are arranged inside these parts.

DESCRIPTION OF THE DRAWINGS

The invention will now be described in more detail in the form of anon-limiting embodiment, illustrated with the aid of the attacheddrawings, where

FIG. 1 shows a general sketch of an industrial robot according to thepresent invention.

FIG. 2 shows in principle the pathway of the supply lines through arobot upper arm and turning device according to the present invention.

FIG. 3 shows in perspective view the free end of a robot upper armaccording to the present invention.

FIG. 4 partly shows in a view directly from the side the turning deviceon the free end of the robot upper arm in FIG. 3, with a supply linedrawn through a collar section.

FIG. 5 shows, in a perspective view, a cross-section through the freeend of an embodiment of the robot upper arm according to the presentinvention.

FIG. 6 illustrates, in a perspective view, a cross-section of anembodiment of the free end of a robot upper arm according to the presentinvention.

DESCRIPTION OF EMBODIMENTS

FIG. 1 illustrates an industrial robot 1 comprising a rotatable robotupper arm 2, which at its free end supports a rotatable turning device 3rotatably arranged in a wrist 6 (which section of the arm is oftenreferred to as a “fork”). FIG. 2 shows in principle (essentially inagreement with the industrial robot that is shown in FIG. 1) how asupply line K is drawn through the robot upper arm 2 and the turningdevice 3 on an industrial robot according to the present invention. Thesupply line K is arranged to pass through an opening 14 in a collarsection of the turning device 3. The industrial robot comprises an upperarm 2 that can be rotated around a first axis A, a wrist 6 supported bythe upper arm that can be rotated around a second axis B, a hollowturning device 3 supported by the wrist that can be rotated around athird axis C that at its forward end comprises a turning disk 8 forattachment of a tool. The first axis A crosses the second axis Bperpendicularly, and the second axis B crosses the third axis Cperpendicularly. A collar section 10 is arranged between, and in directcontact with, the forward disk-shaped turning disk 8, and a rear section17 of the turning device 3.

FIG. 3 and FIG. 4 show an industrial robot with a rotatable hollow upperarm 2, comprising two formed arm parts 20, 21 (also known as a “fork”),where a turning device 3 is arranged at the free end 4 of the robotupper arm 2 between the arm parts 20, 21, which turning device isrotatable (that is, it can perform a bending/tilt motion) in a wrist 6around a second axis B (the tilt axis). The turning device 3 comprises arear sleeve-shaped section 17 (as is shown in FIG. 5) and a forwarddisk-shaped section that is termed “the turning disk” 8. A collarsection 10 is arranged between, and in direct contact with, the forwarddisk-shaped turning disk 8 and the rear section 17 of the turning device3. A rotational motion is transferred to the turning device 3 with theaid of motors and toothed wheel gearings not shown in the figures. Asupply line K is intended to be arranged and run along and inside of therobot upper arm 2, onwards through a central opening 22 (or cavity) inthe rear section 17 of the turning device 3, and onwards to the turningdisk 8 (see FIG. 3). The rear section 17 and the opening 22 form in thisway a cylindrical body 24. The turning device 3 can be rotatated arounda third axis C. A tool is attached to the turning disk 8 via a surface13 that constitutes a tool connector, in front of a flange 11. The toolconnector 13 is equipped with means 15 for the rigid attachment of atool to the connector 13. The turning disk is at its first end designedwith a conical envelope surface 12 and the collar section 10 comprisesfeed-through openings 14 each of which has an axial extension along itsrespective normal 16, perpendicular to the envelope surface 12. A supplyline K is thus intended to be drawn through the robot upper arm 2,onwards through the central opening 22 of the turning device and outthrough an opening 14 in the collar section 10. FIG. 4 also makes clearan angle of inclination α between the third axis C and the normal 16.This angle of inclination α lies below 90° and the openings 14 in thecollar section 10 are arranged to control transversely andlongitudinally at least one cable therein, whereby a supply line obtainsa relatively straight through-passage through the turning device and outthrough the openings 14 in the collar section. According to theinvention, the supply line should not be attached within the robot armand should be able to move along the direction of its longitudinal axis,at least at the free, outer end of the robot arm, that is, at the collarsection 10 and the wrist 6. The supply line can, however, be firmlyattached at some position, and then, for example, one suitable locationis next to or in the openings 14 in the collar section 10. The number ofopenings in the collar section can vary from one individual toapproximately ten openings, and it is appropriate if they aresymmetrically placed around the envelope surface of the collar section.The collar section 10 comprises at least one section with a radius R₁,defined between the third axis C and the envelope surface 12 of thecollar section (see FIG. 4) that is less than the radius R₂ of thecylindrical body 24.

FIG. 5 shows a perspective view of an embodiment of the presentinvention in which the free end of a robot overarm (essentially inagreement with the device according to FIGS. 1-4) with the turningdevice 3 arranged to rotate (that is, able to perform a tilt/bendingmovement) around the second axis (the tilt axis) B. The turning device3, which has a central opening 22, comprises a turning disk 8 and a rearsleeve-shaped section 17 (here in an undivided embodiment in acontinuous body) that is arranged to rotate with the aid of bearings 18in a bearing carrier 19 arranged in the wrist 6. An angle of inclinationα between a third axis C and a normal to the envelope surface 25 ismarked in FIG. 4. As has been mentioned earlier, the angle ofinclination can preferably lie within the interval from 0° to 44°. Inthis way, the supply lines can obtain a relative straightthrough-passage through an opening 23 (or a channel) at the free end ofa robot overarm, forwards to a tool connector 13, in that the supplylines pass internally in openings 22 in the hollow sleeve-formed section17 of the turning device 3 and out through openings 14 in the collarsection 10, where the through-passages in the openings are arranged in adirection obliquely forwards. The respective lines that are part of asupply line, or a bunch of supply lines of several lines/wires, can inthis way be placed each in respective openings 14, whereby the lines areheld apart, transversely controlled and displaceably arranged withrespect to each other. The openings 14 are larger than the linesintended to be placed there, whereby the respective line in the supplyline can still freely move and freely run in an axial direction throughthe openings 14. There is thus a certain amount of free space for a linein the opening. It is thus important that friction between thesurrounding walls in the opening and a line passing though it is low.

FIG. 6 illustrates an embodiment (essentially in agreement with thedevice according to FIGS. 1-2) in which the turning device 30 is in theform of a divided conical geared wheel. The divided turning devicecomprises two parts, a forward part 32 comprising a turning disk 33 anda sleeve-shaped rear part 34. The forward part 32 is attached to a rearsleeve-shaped body 31 of the turning device, which has contact surfacesthat are arranged in contact with each other 35 during arrangement ofthe turning device 30 in the robot arm. A divided turning device givesmore space for the bending of the supply lines. The reason is that itmakes it possible for a bearing 46 for the turning motion around theaxis B to be placed in the forward part of the turning device 30. Thisis advantageous from the point of view of durability. The rear opening39 of the turning device 30 is placed in front of the axis of rotationB, which gives a more advantageous bending of the supply lines. Thecentre of rotation for the turning device 30 according to thisembodiment thus lies further back along the robot arm 2, behind theturning device 30. This is to be compared with the embodiment accordingto FIG. 5 in which the rear opening 25 of the turning device 3 is placedbehind the axis of rotation B. Thus, in comparison with the turningdevice 30 in FIG. 6, the centre of rotation of the turning device 3 inFIG. 5 lies further forward towards the free end 4 of the robot arm 2,within the turning device itself. Openings 40 are designed that passthrough the conical envelope surface 45 of a collar section 36. The rearbody 31 of the turning device has a contact surface equipped with teeththat are in toothed engagement with an equivalent tooth-equipped contactsurface of a toothed wheel gearing arranged in the wrist, which toothedwheel gearing is arranged to transfer a rotational motion to the turningdevice via a motor. The turning device 30 has a central opening 42.Furthermore, the turning device 30 is arranged to rotate around a tiltaxis 44 arranged in the wrist 6. The turning device is supported bybearings 46 in a bearing support 48. A tool is connected to the turningdisk at a surface that constitutes a tool connector 52, in front of aflange 50. Supply lines are arranged through openings 40 in the collarsection 36. A supply line, not shown, is drawn internally withessentially straight-through passage through openings 54 (channels) inthe robot upper arm, and onwards through central openings 42, 43 in theturning device. Any other technical properties with respect to, forexample, openings and the angle of inclination at the envelope surfaceof the collar section lying below 90, can agree with those describedabove for the turning device 3 with reference to FIGS. 3 and 4.

What is claimed is:
 1. An industrial robot comprising an upper arm thatcan be rotated around a first axis, a wrist supported by the upper armthat can be rotated around a second axis, a hollow turning devicesupported by the wrist that can be rotated around a third axis that atits forward end comprises a turning disk for connection of a tool atleast one supply line that runs along the upper arm, wherein the turningdevice comprises a collar section with a conical envelope surfaceattached to the turning disk, through which at least one opening isarranged for the reception of supply lines that pass through the turningdevice, whereby the opening has an axial extension along a normalperpendicular to the envelope surface, and wherein the supply lines arearranged to run through the opening in a direction that has a componentparallel to the third axis, which opening is arranged to control in atransverse direction and allow in a longitudinal direction displacementof the supply lines.
 2. The industrial robot according to claim 1,wherein the first axis crosses the second axis at right angles, andwherein the second axis crosses the third axis at right angles.
 3. Theindustrial robot according to claim 1, wherein the collar sectioncomprises at least one section that has a radius (R₁), defined betweenthe third axis and the envelope surface of the collar section, that isless than a radius (R₂) of a rear section of the turning device.
 4. Theindustrial robot according to claim 1, wherein the turning device has acentral opening, wherein the supply lines extend completely within thecentral opening in the robot upper arm and within the turning device asfar as the turning disk and wherein the supply lines are arranged toextend through openings in the collar section.
 5. The industrial robotaccording to claim 1, wherein the turning device comprises a conicalgeared wheel in divided execution.
 6. The industrial robot according toclaim 1, wherein an angle of inclination (α) between the third axis andthe normal to the envelope surface of the collar section lies within theinterval from 0° to 60°.
 7. A turning device for control of supply linesthrough an upper arm of an industrial robot the turning device having aturning disk at its forward end for attachment of a tool, wherein theturning device comprises a collar section with a conical envelopesurface attached to the turning device, through which is arranged atleast one opening for the reception of the supply lines running throughthe turning device, wherein the opening has an axial extension along anormal perpendicular to the envelope surface and wherein the supplylines are arranged to run through the opening in a direction that has acomponent parallel to an axis o the turning device, the opening beingarranged to transversely control and longitudinally allow displacementof the supply lines.
 8. The turning device according to claim 7, whereinthe collar section comprises t least one section that has a radius (R₁),defined between the axis of the turning device and the envelope surfaceof the collar section, that is less than a radius (R₂) of a rear sectionof the turning device.
 9. The turning device according to claim 7,wherein a rear section of the turning device is sleeve-shaped.
 10. Theturning device according to claim 7, wherein the turning devicecomprises a conical toothed gear wheel in divided execution.
 11. Theturning device according to claim 7, wherein the turning device isrotatable about the axis thereof, and wherein an angle of inclinationbetween the rotation axis and the normal lies within the interval from0° to 60°.
 12. A method for extending supply lines for an industrialrobot comprising an upper arm rotatable about a first axis, a wristsupported by the upper arm and rotatable about a second axis, a hollowturning device supported by the wrist and being rotatable about a thirdaxis that at its front end comprises a turning disk for connection of atool, the supply lines extending along at least the upper arm, themethod comprising the steps of communicating a turning device with acollar section having a conical envelope surface attached to the turningdisk, the collar section having at least one the opening having an axialextension along a normal perpendicular to the envelope surface extendingthe supply lines through the opening which includes extending the supplylines through the opening in a direction that has a component parallelto that third axis, wherein the supply lines extend through the openingto be guided transversely and are allowed to be displayedlongitudinally.
 13. The method according to claim 12, wherein the firstaxis crosses the second axis at right angles, and the second axiscrosses the third axis at right angles.
 14. The Method according toclaim 12, wherein the collar section comprises at least one section thathas a radius (R₁), defined between the third axis and e envelope surfaceof the collar section, that is less than a radius (R₂) of a rear sectionof the turning device.
 15. The method according to claim 12, wherein theturning device has a central opening, comprising the further step ofextending the supply lines completely inside the openings in the robotupper arm and the turning device as far as the turning disk, where thesupply lines are arranged through openings in the collar section.